【作者】 张鹤；

【导师】 崔宝同；

【作者基本信息】 江南大学 ， 系统工程， 2012， 硕士

【摘要】 随着计算机科技和网络技术的发展，控制系统研究逐步走向分散化、网络化和智能化.传统常用的点对点数据传输已经不能满足现实需求，拥有众多优势的网络控制系统逐渐得到广泛的关注.网络控制系统是一种用网络作为数据传输媒介的控制系统，将网络引入到控制系统中不可避免的带来网络诱导时滞、数据包丢失、数据包时序错乱和单包多包传输等一系列系统问题，这些问题会降低系统的性能，严重时会导致系统震荡不稳定等情况.本课题即是来源于网络控制系统在实际应用中存在的时滞问题.主要工作体现在以下几个方面：1、研究了忽略系统中数据包丢失和时序错乱等情况的时滞网络控制系统，将时滞分为大于一个采样周期和小于一个采样周期两种情况加以考虑，采用一种新的建模方法:离散模糊T-S模型对系统建模，将此模型尽可能的逼近非线性网络控制系统，然后应用平行分布补偿原理设计状态反馈控制器，最后利用Lyapunov定理和线性矩阵不等式方法分析系统的稳定性.2、对于有外部扰动的时滞系统，研究了基于模糊模型的一类不确定性非线性网络控制系统的扰动抑制问题.提出了状态变量代换方法，将系统传输中的时滞转移到闭环控制回路之外，从而来消除时滞部分对控制系统稳定性的消极影响.最后运用Lyapunov稳定性理论和线性矩阵不等式技术，证明了这种控制方法的有效性.3、针对有时滞的非线性网络控制系统，应用T-S模糊模型对其建模，根据系统模型得出相同结构情况下具有未知参数的估计模型，通过两者做差得出了误差模型，然后设定Lyapunov函数，利用Lyapunov稳定性定理构造稳定矩阵，使得误差模型收敛为零.为保证Lyapunov函数求导后小于零，文章首先对估计模型的未知参数进行设计，从中得出自适应律，来保证估计模型的状态原模型的状态整体一致.更多还原

【Abstract】 With the development of computer technology and network technology, the researchtrend of networked control system is diversify, intelligent. The traditional point-to-pointtransmission has been unable to meet the demands of reality usage, the network controlsystem gets more and more attention. As network is introduced into the control systeminevitably at the same time it will bring a series of problems such as delay, packet loss. Thissubject comes from the daily usage of network control system in the practical application ofthe existing problems of this type, such as, network induced delay data packet dropout andtemporal disorder single packet transmission. The main work is reflected in the followingaspects:1. Study time delay networked control systems without packet loss and packet sequencedisorder situation, the delay will be divided into more than one sampling period and less thanone sampling period and two kinds of circumstances can be considered, first using a newmodeling method of discrete fuzzy T-S model for system modeling, as far as possible toapproximate nonlinear networked control system, then based on this model using paralleldistributed compensation principle to design of controller, finally using Lyapunov theoremand linear matrix inequality method to analyze the stability of a system.2. For disturbed time-delay systems based on fuzzy model, with external perturbation of aclass of uncertain nonlinear networked control systems with disturbance rejection problem.We present a state variable substitution, transfers the control time-delay to closed loop controlcircuit, thereby to eliminate time delay part to the control system stable influence. By usingLyapunov stability theory and linear matrix inequality technique, proved the validity of thecontrol method.3. For nonlinear systems, based on T-S fuzzy model to modeling, get the structures withunknown parameter estimation model, between both to get the error model, and then thedesign Lyapunov function, using Lyapunov stability theory to construct stable matrix, makingthe error converge to zero. In order to ensure that Lyapunov function derivation is less thanzero, the article first to estimate the model parameter design, derived from adaptive law, toensure that the estimation model of the original model state overall consistent state.更多还原